Development of hopping mechanism using permanent magnets for a tiny asteroid rover — Estimation of hopping velocity

Author has previously proposed the hopping mechanism using permanent magnets for a tiny asteroid exploration rover. The main part of the proposed mechanism consists of one movable magnet and two stationary magnets. The mechanism uses for hopping the impact force generated when the movable magnet sticks to the stationary magnet. The constraints about the design parameters for generation of the impact force were also described in the previous work. However, design methods to decide the design parameters in consideration of some restrictions imposed upon the rover are needed. To construct the design methods, performance of the proposed mechanism has to be evaluated. This paper presents an estimation method of the hopping velocity just after impact. This method is derived based on the model of attraction force acting between two cylindrical permanent magnets. The validity of the estimation method is discussed based on a result of experiment using the prototype module under 1 G environment.